CN114455476A - Tower crane safety monitoring method, device and system - Google Patents
Tower crane safety monitoring method, device and system Download PDFInfo
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- CN114455476A CN114455476A CN202210137632.7A CN202210137632A CN114455476A CN 114455476 A CN114455476 A CN 114455476A CN 202210137632 A CN202210137632 A CN 202210137632A CN 114455476 A CN114455476 A CN 114455476A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the technical field of safety control, and discloses a method, a device and a system for monitoring the safety of a tower crane, wherein the method comprises the following steps: acquiring a preset safety threshold; acquiring information to be detected; analyzing the information to be detected according to the safety threshold value; and carrying out safety early warning according to the analysis result. Compared with the prior art, the tower crane safety monitoring method provided by the invention has the advantages that the state of the tower crane is detected by using the sensor, when the state of the tower crane reaches the safety threshold value, safety early warning is carried out, and when the safety early warning duration time reaches the preset time, the operation of the tower crane is automatically stopped, so that the condition that the judgment error is caused by the error of an operator in the traditional detection method using human eyes is avoided, the safety of the tower crane in the condition that the operator cannot timely feed back the safety early warning is ensured, and the safety of the tower crane operation is improved.
Description
Technical Field
The invention relates to the technical field of safety control, in particular to a method, a device and a system for monitoring the safety of a tower crane.
Background
The tower crane is a construction device for building high-rise buildings, and is mainly used for vertical and horizontal conveying of building materials and installation of building components.
Because the tower crane is usually used for high-altitude operation, the safety of the tower crane must be taken into consideration, in the prior art, the safety of the operation of the tower crane is usually ensured by the visual observation and the experience judgment of an operator, and the hidden danger of safety problems caused by the fatigue or the error of the operator exists.
Disclosure of Invention
The invention aims to provide a tower crane safety monitoring method, a tower crane safety monitoring device and a tower crane safety monitoring system, and aims to solve the problem of potential safety hazards caused by operator errors in the prior art.
The invention is realized in such a way, and in a first aspect, the invention provides a tower crane safety monitoring method, which comprises the following steps:
acquiring a preset safety threshold; the safety threshold value comprises the motion speed limit of a tower crane, the distance limit between the tower crane and a barrier and the included angle limit between a trolley of the tower crane and a sling;
acquiring information to be detected; the information to be detected comprises the movement speed of the tower crane, the distance between the tower crane and an obstacle and the included angle between a trolley of the tower crane and a sling; the information to be detected is acquired by a sensor arranged on the tower crane;
analyzing the information to be detected according to the safety threshold value;
and carrying out safety early warning according to the analysis result.
In one embodiment, the set safety threshold includes a secondary safety threshold and a primary safety threshold.
In one embodiment, the movement speed of the tower crane comprises the rotation speed of a boom of the tower crane; the crane boom rotation speed omega of the tower crane is omega 0+ alpha t, wherein omega 0 is the initial rotation speed, and alpha is the acceleration.
In one embodiment, the included angle between the tower crane trolley and the sling comprises:
acquiring position information of the tower crane trolley; the position information of the tower crane trolley is acquired by a sensor arranged at the joint of the tower crane trolley and the sling, and the position information is r (x1, y1, z 1);
acquiring state information of the sling; the state information of the sling is acquired by a sensor of the sling which is arranged at a preset distance away from the tower crane trolley, and the state information is r (x2, y2, z 2);
calculating the tower crane size according to the position information and the state informationThe included angle between the vehicle and the sling; the calculation formula of the included angle is (x1x2+ y1y2+ z1z2)/[ (x 1)2+y12+z12)(x22+y22+z22)]。
In one embodiment, the analyzing the information to be detected according to the safety threshold includes:
comparing the information to be detected with the safety threshold value;
if the information to be detected does not reach the secondary safety threshold, the analysis result is safe;
if the information to be detected reaches the secondary safety threshold, the analysis result is a secondary danger;
and if the information to be detected reaches the primary safety threshold, the analysis result is primary danger.
In one embodiment, the performing safety precaution according to the analysis result includes:
if the analysis result is safe, no safety early warning is carried out;
if the analysis result is a secondary danger, performing secondary safety early warning;
and if the analysis result is a first-level danger, performing first-level safety early warning.
In one embodiment, the safety precaution includes:
signal indicator light early warning, pronunciation warning and concrete numerical value early warning.
In one embodiment, the safety precaution includes:
and when the primary safety early warning continuously occurs for a preset time, automatically stopping the tower crane.
In a second aspect, the invention provides a tower crane safety monitoring device, which comprises:
an information calculation unit; the information calculation unit is used for acquiring a preset safety threshold;
an information acquisition unit; the information acquisition unit is used for acquiring information to be detected;
an information detection unit; the information detection unit is used for analyzing the information to be detected according to the safety threshold value;
an early warning unit; and the early warning unit is used for carrying out safety early warning according to the analysis result.
In a third aspect, the invention provides a tower crane safety monitoring system, which comprises a speed sensor, a distance sensor, a position sensor and a terminal, wherein the terminal comprises the tower crane safety device.
Compared with the prior art, the tower crane safety monitoring method provided by the invention has the advantages that the state of the tower crane is detected by using the sensor, when the state of the tower crane reaches the safety threshold value, safety early warning is carried out, and when the safety early warning duration time reaches the preset time, the operation of the tower crane is automatically stopped, so that the condition that the judgment error is caused by the error of an operator in the traditional detection method using human eyes is avoided, the safety of the tower crane in the condition that the operator cannot timely feed back the safety early warning is ensured, and the safety of the tower crane operation is improved.
Drawings
FIG. 1 is a schematic flow diagram of a tower crane safety monitoring method provided by an embodiment of the invention;
fig. 2 is a schematic diagram of a specific flow of acquiring an included angle between a tower crane trolley and a sling in step S2 of the tower crane safety monitoring method provided by the embodiment of the invention;
fig. 3 is a schematic diagram of a specific flow of a step S3 of a tower crane safety monitoring method provided by an embodiment of the invention;
fig. 4 is a schematic flow diagram of a specific step S4 of a tower crane safety monitoring method provided by an embodiment of the invention.
Fig. 5 is a tower crane safety monitoring device provided by the embodiment of the invention.
FIG. 6 is a tower crane safety monitoring system provided by an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
Fig. 1 is a schematic flow chart of a tower crane safety monitoring method according to a first embodiment of the present invention.
The invention provides a tower crane safety monitoring method, which comprises the following steps:
step S1: and acquiring a preset safety threshold.
Specifically, the safety threshold is a basis for judging whether the tower crane works safely; more specifically, the safety threshold value comprises two aspects of motion speed limit of the tower crane and distance limit between the tower crane and the obstacle.
More specifically, the safety threshold includes a secondary safety threshold and a primary safety threshold; more specifically, the standard of the secondary safety threshold value is that the state of the tower crane is close to a dangerous state, and the standard of the primary safety threshold value is that the state of the tower crane is in a dangerous state.
It can be understood that when the movement speed of the tower crane reaches a certain degree, the tower crane is in an unsafe state, and when the distance between the tower crane and an obstacle reaches a certain degree, the tower crane is also in an unsafe state.
More specifically, the safety threshold comprises two aspects of motion speed limit of the tower crane and distance limit between the tower crane and the obstacle; it can be understood that when the moving speed of the tower crane reaches a certain limit, the object lifted by the tower crane can be influenced, for example, a sling of the tower crane is broken, and when the distance between the tower crane and an obstacle is too short, the tower crane and the obstacle can be collided.
Step S2: and acquiring information to be detected.
Specifically, the information to be detected is used for being compared with a safety threshold value to judge that the tower crane is in a safe state or a dangerous state, so that the data contained in the information to be detected is consistent with the data type contained in the safety threshold value, namely the movement speed of the tower crane and the distance between the tower crane and the obstacle.
More specifically, the information to be detected is acquired by sensors, and the types of the sensors comprise a speed sensor, a distance sensor and a position sensor; the speed sensor is arranged on the suspension arm of the tower crane and is used for detecting the rotating speed of the suspension arm of the tower crane; the distance sensors are arranged on two sides of the crane jib at preset distances at intervals and are used for detecting the distance between the crane jib and the obstacle; the position sensors are installed on the tower crane trolley and a sling which is away from the tower crane trolley by a preset distance, and the included angle between the tower crane trolley and the sling is calculated by detecting the position information of the two positions.
Step S3: and analyzing the information to be detected according to the safety threshold value.
Specifically, after the information to be detected of the tower crane is obtained, the information to be detected is compared and analyzed with a preset safety threshold value; more specifically, when the information to be detected does not reach the safety threshold, the analysis result is safe, and when the information to be detected reaches the safety threshold, the analysis result is dangerous.
It can be understood that, in order to ensure the effectiveness of the early warning, the analysis of the information to be detected is a quick and instant operation.
More specifically, the safety threshold is divided into two stages in the present embodiment, a secondary safety threshold and a primary safety threshold; it can be understood that, when the state of tower crane is in and is close the risk state, wait to detect information this moment and reach second grade safety threshold, when the state of tower crane is in the risk state, wait to detect information this moment and reach one-level safety threshold, through setting up two-stage risk threshold, set out a buffer that supplies the operator to deal with the risk state, can increase the ability of coping with of operator in the face of the risk state effectively, avoid appearing the untimely condition of operator's coping risk.
Step S4: and carrying out safety early warning according to the analysis result.
Specifically, if the analysis result is safe, safety early warning is not carried out, and if the analysis result is dangerous, safety early warning is carried out; it can be understood that the safety precaution is a fast and immediate operation to ensure the effectiveness of the precaution.
More specifically, the safety threshold is set in two levels, so that the danger level corresponding to the analysis result is divided into two levels, and the safety early warning modes of each level are different; it can be understood that the safety precaution that the information to be detected reaches the primary safety threshold is more obvious than the safety precaution of the secondary safety threshold.
More specifically, when the safety alarm of the first-level safety threshold value lasts for the preset time and the operator does not operate the tower crane and drops below the first-level safety threshold value, the tower crane is automatically stopped to avoid danger.
In this embodiment, the method for monitoring the safety of the tower crane provided by the invention has the advantages that the state of the tower crane is detected by using the sensor, when the state of the tower crane reaches the safety threshold, safety early warning is performed, and when the safety early warning duration time reaches the preset time, the operation of the tower crane is automatically stopped, so that the condition that the judgment error is caused by the error of an operator in the traditional detection method using human eyes is avoided, the safety of the tower crane in the case that the operator cannot timely feed back the safety early warning is ensured, and the safety of the operation of the tower crane is improved.
Referring to fig. 2, fig. 2 is a schematic specific flow chart of obtaining an included angle between a tower crane trolley and a sling in step S2 of a tower crane safety monitoring method according to a second embodiment of the present invention.
Step S21: and acquiring the position information of the tower crane trolley.
Specifically, a position sensor is arranged at the position where the tower crane trolley is connected with the sling, the position sensor acquires the position information of the tower crane trolley, and the position information is recorded as r (x1, y1, z 1).
It can be understood that the position of the tower crane trolley connected with the sling is fixed relative to the position of the tower crane trolley, so that the position information of the position is recorded as r (x1, y1, z1) by arranging a position sensor at the position, and the position information of the position is used for representing the position information of the tower crane trolley.
Step S22: and acquiring the state information of the sling.
Specifically, the state information of the sling is acquired by a position sensor of the sling arranged at a preset distance from the tower crane trolley, and the state information is recorded as r (x2, y2, z 2).
It can be understood that the shape of the sling is a long straight line segment, and the state information of the sling can be recorded by recording the position information of a fixed point on the sling; more specifically, a position sensor is arranged at a position where the sling is away from the tower crane trolley by a preset distance, and the position information of the position is recorded as r (x2, y2, z2), so that the state information of the sling is represented.
Step S23: and calculating the included angle between the tower crane trolley and the sling according to the position information and the state information.
Specifically, the position information of the tower crane trolley is recorded as r (x1, y1, z1), the position information of the sling is recorded as r (x1, y1, z1), and the calculation formula of the included angle between the tower crane trolley and the sling is cos θ ═ x2+ y1y2+ z1z2)/[ (x12+ y12+ z12) (x22+ y22+ z22) ].
In this embodiment, the motion speed of the aerial tower comprises the rotation speed of the boom of the aerial tower.
Specifically, a speed sensor is arranged on a suspension arm of the tower crane, and the suspension arm is a fixed structure close to a cuboid, so that the overall movement speed of the suspension arm can be detected by detecting the speed of the suspension arm at the upper part of the suspension arm.
More specifically, the rotation speed ω of the boom of the tower crane is ω 0+ α t, where ω 0 is the initial rotation speed, α is the acceleration, and t is the rotation time of the boom.
Referring to fig. 3, fig. 3 is a schematic specific flow chart diagram of step S3 of a tower crane safety monitoring method according to a third embodiment of the present invention.
Step S31: the information to be detected is compared with a safety threshold.
Specifically, after information to be detected is acquired, the information to be detected is compared with a safety threshold value to obtain an analysis result; more specifically, the safety threshold value is divided into a secondary safety threshold value and a primary safety threshold value, the secondary safety threshold value corresponds to the state that the tower crane is close to the risk state, and the primary safety threshold value corresponds to the state that the tower crane is in the risk state.
It can be understood that by setting two levels of safety thresholds, a buffer space for the operator to deal with the risk is provided, so that the handling capacity of the operator facing the risk state can be effectively increased, and the situation that the operator cannot deal with the risk timely is avoided.
Step S32: and if the information to be detected does not reach the secondary safety threshold value, the analysis result is safe.
Specifically, when the information to be detected reaches the secondary safety threshold value, the tower crane is in a safe state, and the analysis result is safe.
The buffer area of the state can effectively increase the response capability of the operator facing the risk state, and avoid the situation that the operator cannot respond to the risk timely.
Step S33: and if the information to be detected reaches a secondary safety threshold value, the analysis result is a secondary danger.
Specifically, when the information to be detected reaches the secondary safety threshold value, the tower crane is close to a dangerous state, and the analysis result is a secondary danger.
It can be understood that the secondary dangerous state reflects that the tower crane is in a near dangerous state, and at the moment, an operator needs to pay attention to correct the state of the tower crane to avoid entering the dangerous state.
Step S34: and if the information to be detected reaches a first-level safety threshold value, the analysis result is a first-level danger.
Specifically, when the information to be detected reaches a first-level safety threshold value, the tower crane is in a dangerous state, and the analysis result is a first-level danger.
It can be understood that the first-level dangerous state reflects the state that the tower crane is in danger, and at the moment, an operator needs to pay attention to correct the state of the tower crane to be out of the dangerous state.
Referring to fig. 4, fig. 4 is a schematic specific flow chart of step S4 of a tower crane safety monitoring method according to a fourth embodiment of the present invention.
Step S41: and if the analysis result is safe, no safety early warning is carried out.
Specifically, when the analysis result is safe, the tower crane is in a safe state, and at the moment, safety early warning is not needed.
Step S42: and if the analysis result is a secondary danger, performing secondary safety early warning.
Specifically, when the analysis result is a secondary danger, representing that the tower crane is close to a dangerous state, carrying out secondary safety early warning at the moment; it can be understood that the warning degree of the second-level safety early warning is lower than that of the first-level safety early warning, and the significance of setting the second-level safety early warning is that a buffer area between the safety state and the dangerous state of the tower crane is provided for an operator.
More specifically, the content of the secondary safety precaution comprises a yellow signal indicator light precaution and a warning voice reminding precaution.
Step S43: and if the analysis result is a first-level danger, performing first-level safety early warning.
Specifically, when the analysis result is a first-level danger, representing that the tower crane is in a dangerous state, performing first-level safety early warning at the moment; it can be understood that the warning degree of the first-level safety early warning is higher than that of the second-level safety early warning, and the first-level safety early warning is set to remind an operator that the tower crane is in a dangerous state, so that the state of the tower crane can be immediately checked and adjusted.
More specifically, the content of the primary safety precaution comprises a red signal indicator light precaution and a dangerous voice reminding precaution.
In this embodiment, the safety precaution includes: signal indicator light early warning, pronunciation warning and concrete numerical value early warning.
Specifically, the safety precaution is divided into two levels, so that the safety content of the two levels is different; more specifically, in the second-level safety early warning, the signal indicator light early warning is yellow, the voice reminding early warning is alert, in the first-level safety early warning, the signal indicator light early warning is red, and the voice reminding early warning is dangerous.
More specifically, the safety precaution also comprises the display of specific numerical values, and the speed of the tower crane and the distance between the suspension arm of the tower crane and the obstacle are displayed in real time, so that an operator can know the state of the tower crane.
In this embodiment, the safety precaution further includes: and when the primary safety early warning continues to occur for a preset time, automatically stopping the tower crane.
Specifically, the first-level safety early warning represents that the tower crane is in a dangerous state, and an operator should avoid the tower crane from being in the dangerous state for a long time so as to reduce the possibility of occurrence of operation accidents; it can be understood that, in actual operation, there is because operator's error and can't be immediately to being in the tower crane of dangerous state to adjust, in this embodiment, if one-level safety precaution has lasted preset time, then stops the tower crane automatically, has avoided because of operator's error can't be immediately to being in the condition that the tower crane of dangerous state adjusted.
Referring to fig. 5, fig. 5 is a device for monitoring safety of a tower crane according to an embodiment of the present invention.
The invention provides a tower crane safety monitoring device, which comprises:
an information calculation unit 1; the safety threshold is used for acquiring a preset safety threshold;
an information acquisition unit 2; the method comprises the steps of obtaining information to be detected;
an information detection unit 3; the device is used for analyzing the information to be detected according to the safety threshold value;
an early warning unit 4; and the safety early warning is carried out according to the analysis result.
Referring to fig. 6, fig. 6 is a system for monitoring safety of a tower crane according to an embodiment of the present invention.
The invention provides a tower crane safety monitoring system which comprises a speed sensor, a distance sensor, a position sensor and a terminal, wherein the terminal comprises the tower crane safety device.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A tower crane safety monitoring method is characterized by comprising the following steps:
acquiring a preset safety threshold; the safety threshold value comprises the motion speed limit of a tower crane, the distance limit between the tower crane and a barrier and the included angle limit between a trolley of the tower crane and a sling;
acquiring information to be detected; the information to be detected comprises the movement speed of the tower crane, the distance between the tower crane and an obstacle and the included angle between a trolley of the tower crane and a sling; the information to be detected is acquired by a sensor arranged on the tower crane;
analyzing the information to be detected according to the safety threshold value;
and carrying out safety early warning according to the analysis result.
2. The tower crane safety monitoring method of claim 1, wherein the safety threshold comprises a secondary safety threshold and a primary safety threshold.
3. The tower crane safety monitoring method according to claim 1, wherein the movement speed of the tower crane comprises a rotation speed of a boom of the tower crane; the crane boom rotation speed omega of the tower crane is omega 0+ alpha t, wherein omega 0 is the initial rotation speed, and alpha is the acceleration.
4. The tower crane safety monitoring method of claim 1, wherein an included angle between the tower crane trolley and the sling comprises:
acquiring position information of the tower crane trolley; the position information of the tower crane trolley is acquired by a sensor arranged at the joint of the tower crane trolley and the sling, and the position information is r (x1, y1, z 1);
acquiring state information of the sling; the state information of the sling is acquired by a sensor of the sling which is arranged at a preset distance away from the tower crane trolley, and the state information is r (x2, y2, z 2);
calculating an included angle between the tower crane trolley and the sling according to the position information and the state information; the calculation formula of the included angle is (x1x2+ y1y2+ z1z2)/[ (x 1)2+y12+z12)(x22+y22+z22)]。
5. The tower crane safety monitoring method according to claim 1, wherein the analyzing the information to be detected according to the safety threshold value comprises:
comparing the information to be detected with the safety threshold value;
if the information to be detected does not reach the secondary safety threshold, the analysis result is safe;
if the information to be detected reaches the secondary safety threshold, the analysis result is a secondary danger;
and if the information to be detected reaches the primary safety threshold, the analysis result is primary danger.
6. The tower crane safety monitoring method according to claim 1, wherein the performing safety pre-warning according to the analysis result comprises:
if the analysis result is safe, no safety early warning is carried out;
if the analysis result is a secondary danger, performing secondary safety early warning;
and if the analysis result is a first-level danger, performing first-level safety early warning.
7. The tower crane safety monitoring method according to claim 5, wherein the safety precaution comprises:
signal indicator light early warning, pronunciation warning and concrete numerical value early warning.
8. The tower crane safety monitoring method according to claim 5, wherein the safety precaution comprises:
and when the primary safety early warning continuously occurs for a preset time, automatically stopping the tower crane.
9. The utility model provides a tower crane safety monitoring device which characterized in that includes:
an information calculation unit; the information calculation unit is used for acquiring a preset safety threshold;
an information acquisition unit; the information acquisition unit is used for acquiring information to be detected;
an information detection unit; the information detection unit is used for analyzing the information to be detected according to the safety threshold value;
an early warning unit; and the early warning unit is used for carrying out safety early warning according to the analysis result.
10. A tower crane safety monitoring system, characterized in that, tower crane safety system includes speed sensor, distance sensor, position sensor and terminal, the terminal includes the tower crane safety device of claim 8.
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| CN202210137632.7A CN114455476A (en) | 2022-02-15 | 2022-02-15 | Tower crane safety monitoring method, device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115072598A (en) * | 2022-08-22 | 2022-09-20 | 广州云硕科技发展有限公司 | Tower crane monitoring method and device based on artificial intelligence |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115072598A (en) * | 2022-08-22 | 2022-09-20 | 广州云硕科技发展有限公司 | Tower crane monitoring method and device based on artificial intelligence |
| CN115072598B (en) * | 2022-08-22 | 2022-12-20 | 广州云硕科技发展有限公司 | Tower crane monitoring method and device based on artificial intelligence |
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